/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef BONDCPP__TIMEOUT_H_
#define BONDCPP__TIMEOUT_H_

#include <ros/ros.h>

namespace bond {

class Timeout
{
public:
  Timeout(
    const ros::Duration &d,
    boost::function<void(void)> on_timeout = boost::function<void(void)>());
  Timeout(
    const ros::WallDuration &d,
    boost::function<void(void)> on_timeout = boost::function<void(void)>());
  ~Timeout();

  // Undefined what these do to a running timeout
  void setDuration(const ros::Duration &d);
  void setDuration(const ros::WallDuration &d);

  void reset();
  void cancel();
  ros::WallDuration left();

private:
  ros::NodeHandle nh_;
  ros::SteadyTimer timer_;
  ros::SteadyTime deadline_;
  ros::WallDuration duration_;
  boost::function<void(void)> on_timeout_;

  void timerCallback(const ros::SteadyTimerEvent &e);
};


}  // namespace bond

#endif  // BONDCPP__TIMEOUT_H_
